On the contrary, I thought Endgame had better storytelling, although that doesn't make Infinity War bad. Endgame really focused on how all the OG Avengers have been dealing with such a terrible defeat, with their grief, guilt, and attempts to move on. But when they get the second chance with time travel, the directors used that to tie up all the previous storylines that had all joined into this movie in a satisfying way. And although the Endgame final fight was on a much larger scale, it still felt like more screen-on time was being dedicated to action in Infinity War. You had the two battles going on at once on Titan and Earth, as well as the first two where they kidnap Dr Strange and try to kill Vision, plus the movie was also shorter. With Endgame, all of the action was concentrated at the end.
Infinity War was a great Thanos movie, but Endgame was the better Avengers movie for me. They didn't just shove in a bunch of extra characters. It's still close, though.